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12 Octobre 2014

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27 Octobre 2014

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28 Octobre 2014

JJCR 2014

29-30 Octobre 2014

Journées Nationales du GDR Robotique.


Haptic and visuo-haptic feedback for guiding laparoscopic surgery gestures

Due mainly to drastically shortened recovery times, lower overall cost and better patient outcomes, minimally invasive surgery (MIS) is growi ng standard for many surgical interventions. However, the characteristics of MIS incur severe perceptual and motor limitations, such as partial loss of visual depth p erception, difficult hand-eye coordination and distorted haptic sensation. These limitations, in turn, have been shown to affect surgical performance – resulting in some cases in i ncreased complication rates and intra- operative injuries when compared to the correspondi ng open surgery procedures. We hypothesize that the perceptual limitations inhe rent to MIS settings may be overcome at least in part by providing additional informatio n on the state of the surgical instrument and its interaction with manipulated organs to the surgeon during the operation. Using forms of augmented reality, we thereby hope to brin g the quality surgical gesture performance in MIS back on par with that in open su rgery. Our initial experiments focus on the problem of ass isting the surgeon in precisely guiding a surgical instrument tip within the patient’s abdome n. The idea is to acquire the position of the instrument tip in space using sensors mounted o n the instrument and to feed back the minimum amount of information relevant to the surgi cal task in order for the surgeon to not deviate further from a target trajectory in MIS than he would in a comparable open surgery setting. Initial results show promising potential for the us e of tactile feedback embedded within the handle of a surgical instrument in order to feed ba ck information to the user, improving his/her execution of complicated gestures.